Stabilizing and directing gyroscopic control mechanism



3 Sheets-Sheet 1A Ill. d

L.. MARMONIER Filed April 28, 1928 STABILIZIHG AND DIRECTING GYROSCOPICCONTROL MECHANISM Feb. 20, 1934.

Louis MARMQNIERT BY/Z/cuane, ATTORNEYS Feb. 20, 1934.

l.. MARMONIER 1,947,562

STABILIZING AND DIRECTING GYROSCOPIC CONTROL MECHANISM Filed April 28,1928 3 Sheets-Sheet 2 k J J J LoL/l5 MARMoNlL-:R

ATTORNEYS Feb. 20, 1934. L. MARMoNlER 4 1,947,562

STABILIZING AND DIRECTING GYROSCOPIC CONTROL MECHANISM Filed April 28,1928 3 Sheets-Sheet 3 LOUIS MARMUNIER BYZQv egn,mvgf

ATToRNaYs Patented Feb. 20, 1934 STABILI'ZING AND DIRECTING GYROSCOPICCONTROL MECHANISM Louis Marmonier, Lyon, France Application April 28,1928,1Serial No. 273,732, and in France May 9, 1927 15 Claims.

The present invention has for an object an apparatus constituted by anarrangement of several gyroscopic groups having for a common purpose theobtainment of one or more proof planes occupying respectively, in space,a fixed andinvariable position. These proof planes may be utilized forlongitudinal and transverse stabilization as well as for the automaticdirecting of movable bodies displaced in a fluid whose position ismaterially unstable, such as, aeroplanes, ships, torpedoes and the like,as well as the sta' bilization and automatic directing of al1 apparatusor objects placed on board these moving bodies, such as, pieces ofmarine artil1ery,.te1e scopic sights, telemeters, repeating motors,directing and orientating tables and the like.

The invention will be readily understood from the accompanying drawingstaken in connection with the following description.

In the drawingsl Fig. 1 is an elevational View with parts in' section ofa group of four gyrostats and their precessional compensation organs,this embodiment having for a purpose to obtain two proof planes; thefirst in stable position on the horizon and the second in stableposition on the azimuth;

Fig. 2 is aside View partially in section of the group of Fig. 1;

Fig. 3 is a section along a horizontal plane showing the group of fourgyrostats in plan;

Fig. 4 shows a modcation of the device for the automatic raising of thetwo pendular masses of group No. 1;

Fig. 5 is a modification of the lowering device of the gyrostats in theposition that they must occupy normally in the group. This figure alsoshows details of the precession three contact point switch;

Fig. 6 is a regulating device ,for the shafts of the cardan jointssupporting the gyrostats for the purpose of causing coincidence of thecenters of rotation of the group;

Fig. 7 is an elevational view of the automatic device indicating thevariation in speed of the moving body and change in direction of thismoving body;

Fig. 8 is a plan view of the device of Fig. 7;

Fig. 9 is schematic diagram showing the electrica?. connections.

The gyroscopic group is composed of four gyrostats 1-2-3-4 supported bya spherical framework 5 journalled in ball-bearings 85-86 iixed on aring 84. At 90"y from said first mentioned bearings said ring restson`two other ball-bearing'jtrunnions fixed to a ring 89 verticallydisposed, in order to constitute a cardan joint device allowing thegyroscopic group to remain independent of the inclinations of itssupport. Moreover the ring 89 rotates freely in ball-bearings 90- 91' ina ring frame 83,a.lowingthe group to escape all movement of rotation ofsaid frame which itself is disposed on the movable body to bestabilized. To this end, the shafts 29-30 and 31-,32 are accuratelydisposed in the same-plane, and their point of intersection 32 coincideswith the pivotal axis 6--7 of the ring 89,. For obtaining precisecentering ofthe shafts which is of the greatest importance inequilibrating the arrangement, the ball races of the bearings supporting the universal rings may be accurately centered with the deviceof Fig. 6, which is merely disclosed by way of example, numerous modi'-flcations being possible in order to produce the same result. In thedevice of Fig. 6, the ballbearing is adapted to be displaced in the 75`housing with which it is provided in ring 101 by four regulating screws102 arranged in the form of a square and providedwith lock-nuts.

The rotors 1-2--3-4 of the gyroscopic group are of exactly the sameweight, have the same so diameter and are given the same speed. Thegyrostats are grouped on their common frame 5 in such a way that the twogyrostats 1 and 2 occupy equal distances vfrom the vertical axis 6-7 ofthe group and turn in opposite directions in 85 the same plane ofrotation. The disposition of gyrostats 3-4 is identical, their plane ofrotation likewise passing through the vertical axis 6 7.

The gyrostat 1 turns in ball-bearings in a ring 8 which pivots about avertical axis 9-10. The 90 gyrostat 2, whose couple of rotation isequilibrated by the couple of gyrostat 1, turns in a ring 11 whichpivots about a horizontal axis `12.--13. As a result of thisarrangement, the gyroscopic reaction of each of the gyrostats 1 and 2does not take 95 place along the same line of proof, but on two distinctlines perpendicular to each other, wherea's the gyrostat l reacts alonga lvertical line of proof 9-.-10, the gyrostat 2 reacts along the line12-13.

The same arrangement exists in connection Withigyrostats 3-4 whoserespective couples of rotation equilibrate each other, but whosegyroscopc actions are different. The gyrostat 3 pivots in ball-bearingsin a ring 14 at 15-16 about an axis coinciding 4with the line of proof15-16 of the reaction of this gyrostat, whereas the gyrostat 4 mountedon a ring 17 pivots about the horizontal axis 18--19 and reacts on thisaxis.

As in other respects the gyrostats 1-2 and 3-4 are mounted perpendicularto each other on the common frame 5, the reaction of the two gyrostats 1and 3 whose pivotal axes are vertical, will have for an effect tostabilize the whole of the group according to a horizontal proof plane,whereas the `two gyrostats 2 and 4 react in common in an azimuth l proofplane. The gyrostats 1-3 consequen ly assure automatic longitudinal andtransverse equilibrium of the moving body which they are to stabilizewhile the gyrostats 2-4 concentrate their reactions in the azimuth forserving as an azimuthal direction base for orientating the moving body.

It will be noticed, however, that in order to maintain immobilityintegral with the horizontal proof plane of this group, it is necessaryto join thereto two pendular masses which cause a dennite position ofequilibrium to be maintained due to the restraint of gravity. On theother hand these pendular masses present the disadvantage of beingsubjected to an acceleration couple resulting from variations in speedof the movable body as Well as to the action of centrifugal force duringturning of the moving body.

In order to restrain as much as possible the effect of theseacceleration couples on the equilibrium of the gyroscopic group, I haveprovided a device which will now be described. I

The pendular attraction of the group is obtained by two masses 22 and 23constituting the cores of two iron-clad electro-magnets 20 and 21 fittedin the frame 5 and centered on the vertical axis 6-7, in such a way thatduring normal running of the moving body, the center of gravity of thetwo pendular masses 22-23, will be situated beneath the horizontal axis29-30. On the other hand when'a current excites both electro-magnets20-21, the pendular masses 22-23 by being lifted move their centers ofgravity closer to the axis 29-30 thus diminishing the pendular restraintthat they transmit to the gyroscopic group.

The action of iron-clad electro-magnets 20-21,

is brought about by means of automatic speed variation `and centrifugalforce gauges represented in Figs. 7 and 8. These gauges are maintainedin stable position in' a constant horizontal plane and for this purposeare placed on master controlled elements as will be explained below.These gauges comprise essentially two sirall masses 33 and 34perpendicularly disposed to he route which the moving'body follows, forin iicating the variations in speed of this moving body, lor parallel tothe direction of this route for' registering the effects of centrifugalforce during turning of the moving body. These masses 33-34 are placedat the extremities of levers 35-36 keyed to forks 37--38, loosely pi'f-`oted on a common frame 49. The two masses 33-34 are drawn, in theirnormal position of rest against a common abutment 50, integral with theframe 49, by means of opposing springs 41-42. 'I'he forks 37`38 eachcarry a ratchet, that of fork 38 being shown at 39 with its pressurespring 40.l These ratchets lock on ratchet wheels 47-48, which turn inframe 49 with more or less friction tightness according to theregulation of the tension of the springs, one of Which for ratchet wheel48 being shown at 51.

When a variation in speed takes place in the moving body, one of themasses 33-34 is projected to the front or to the rear, its movementbeing limited, however, by spring 41 or 42. The ratchetl becomes lockedwith the corresponding ratchet wheel when in the position at the end ofits movement and the mass returns slowly to its position of rest, thisreturn movement being braked by the friction of the ratchet wheel on theframe.

While these various movements are taking place, one of the currentreceiving terminals 43-44 of switches 45-46 leads current to the contactof the corresponding switch. The contacts of switches 45-46 being inconnection with the iron-clad electro-magnets 20-21 as long as themasses 33 and 34 are not in their position of rest which always takesplace afterv the disturbance which has released their action, thependular masses 22-23 of the gyroscopic group will remain in raisedposition thus reducingto a minimum the effects of these disturbances onthe equilibrium of the group.

On the interior of the pendular core 22 of elecn tro-magnet 20 is placeda spring 25, which bears at one end against this core and at the otherend on a shouldered sleeve 54 which slides along a rod'56. The sleeve 54controls a bell-crank l'ever 55 which acts on a rod 57, which in turnmaintains the gyrostat 1 inthe position which it must occupy in thegroup by means of a lever 58. The Electro-magnet is Afurnished with asecond spring 26 more powerful than the spring 25. When the pendularcore 22 is at the end of its stroke, that is to say, in a position wherethe pendular restraint is at its greatest, the sleeve 54 submits to thepressure of spring 26 which it communicates to gyrostat 1 by rods andlevers 55-57-58. This pressure is powerful enough to reduce to a notabledegree the gyroscopic reaction of gyrostat 1. On the other hand if thependular core 22 ascends in its housing following a disturbance recordedby the device above described;v the spring 25 acts alone on the gyrostatl Without diminishing its power of reaction.

The same arrangement is provided for the iron-clad electro-magnet 21whose core submits alternately to the action of two springs 27 and 28,the action of spring 28 having for effect to reduce the power ofreaction of gyrostat 3, while the spring 27 maintains this reactionintact. l

In this way, the reaction of gyrostats 1 and 3 is greatly reduced and isnot subjected to anyvexterior disturbance, thus leaving a certainpreponderance of the action of gravity, while the two gyrostats 1 and 3react energetically when a disturbance running the risk of rupturingtheir equilibrium is recorded. As this increase in power of reactioncoincides with the diminution in the action of gravity on the gyroscopicgroup, the

disturbances due to variationsin speed of the- This arrangement'appliesprincipally to gyrostats of very large diameter or turning at very highspeed and consequently having a very high initial power of reaction,which may be, without inconvenience, reduced intermittently forincreasing, on the other hand, the restraint of gravity for the purposeof maintaining the horizon proof plane in an immovable position.

For gyrostatsof small diameter where there is no need for reducing thegyroscopic reaction, this device is replaced by the modificationrepresentedv in Fig. 4. In this device the interior core 57 of theiron-clad electro-magnet 60 is fixed to frame 5 of the gyroscopic group,whereas the polar mass 59 and its exciting winding 58 constitutes thecounter-weight and raises or descends according to the excitation ofwinding 58'. As the polar and are normally in the same position. Each ofany mechanical support -of the essential mass 59 as well as the excitingwinding 58' are of a high relative weight and as the same arrangement isadopted for the iron-clad electro-magnet placed at the bottom of thegyroscopic group, the restraint of gravity will be increased ordiminished according to whether the polar masses of the two iron-cladelectro-magnets move toward or away from the center of gravity of thegroup.

Independently of the disturbances produced on the gyroscopic group byvariations in speed or changes in direction of the movable bpdy, whichdisturbances are nevertheless imperfectly compensated for by the devicespreviously described, other causes can disturb the equilibrium of thegroup, which after all, is in a state of constant instability. It wouldtherefore be fitting to provide-compensating organs which would act assoon as rupture of equilibrium would take place, and these organsmustact on the horizon proof plane as well as on the proof plane in theazimuth.

For maintaining the horizon proof plane in its position of equilibriumin full, four iron-clad electro-magnets 61-65-69-71 are xed to the frame5 of the gyroscopic group and on which are disposed respectively thetwo-electro-mag nets 61--65 on an axis 'I3-74 parallel to the horizontalaxis 29-30 of the gyroscopic group and of gyrostats 1--2A and the twoelectro-magnets 69-71 on` an axis 75-76 parallel to the horizontal axis31-32 of the gyroscopic group and of the two gyrostats 3-4. As therespective distance between the axes '73-74 and 29-30, as well asbetween the axes 75-76 and 31-'32 is exactly the same, theI fouriron-clad electro-magnets 61-65-69-71 will be by themselves in aposition of neutral equilibrium about the central pivot` 32 of thegyroscopic group. These four iron-clad electromagnets have, `in fact,exactly the same weight these iron-clad electro-magnets is constitutedby the same elements and as shown for iron-clad electromagnet 6lcomprises an exciting winding 62 placed on the'interior of a polar massand an interior core 63. This core is fixed to frame 5 of the group insuch a way that the exciting winding and its polar mass can behorizontally y displaced on the axis 'I3-'74, being held away from core63 by an opposing spring 64.

The iron-clad electro-magnet 65 is composed of a core 67 fixed to theframe 5 and an exciting winding and polar mass 66 .as well as anopposing spring 68. The arrangement is the same for iron-cladelectro-magnets 69 and 'Il whose polar masses aremoved apart exteriorlyby springs 70 and 'I2 when vthey occupy their position of rest.

In -case a rupture of equilibrium in the horizon proof planev takesplace, one of these electro.- magnets, electro-magnet 65 for example,will be excited and the exciting winding 66 as well as its polar massapproaches the axis 6-7 of the gyroscopic group immediately producing aforce couple in the direction of the'arrow '17 which tends toreestablish equilibrium. .Being given the respective position of withrespect to each other, it is possible to make the four iron-cladelectro-magnets 61-65-69-71 act in a suitable direction. It willbenoticed that'this equilibrium compensating arrangement does notnecessitate external the frame 5 of the gyroscopic group, whichconstitutes one characteristics of the invention.

'I'he placing into action of the four iron-clad electro-magnets61-65-69-71 is produced by 4 which control the azimuthal proof plane.This `l12 as well as a tension spring 111. The prethe gyrostats 1 and 3which alone controlthe horizon proof plane. In this end the gyrostats land 3 are both furnished with a threepoint switch, which for gyrostat 1is the switch 78-7980, a current receiving terminal 80 and acontactroller 81 thereof, this current receiving terminal 80' being heldagainst the switch by a spring 82 secured to the frame 5. z

Any precession ofthe gyrostat 1 will therefore have for effect toinstantaneously call in Aone or the other of the electro-magnets 69 and71 depending upon the direction of rotation of the gyrostat and thedirection of rupture of equilibrium, whereas a precessionof gyrostat 3will act on -the electro-magnets 61 or 65.

As regards the righting of the proof plane in the azimuth which iscontrolled by the two gyrostats 2 and 4, this righting may be obtainedby various devices supported by the main frame of the group. Thesedevices are susceptible to numerous modications andthe model describedhereinafter is merely given by way of example. It comprises an electricmotor 91, wound to ro- .tate in opposite directions and pivotedat 92--92by pivot 91' on the supportingframe 83. This motor 91 actuates a wormwheel 93, which in turn controls a conical wheel 94 which' canfrictionally engage a conically grooved wheel 95 under the action of anelectro-magnet 96. The grooved wheel 95 is fixed to the ring 89 whichitself is connected to the gyroscopic group and consequently occupies inspace an invariable position in the azimuth. If a variation of the groupis produced in the azimuth it is immediately recorded by the precessionof the gyrostats 2 and precession has for effect to establish contactbetween the roller 99 of thev current carrying terminal 98 and one ofthe contacts of the threepoint switch 97 which is placed on gyrostat No.2. The motor 91 effects a movement of rotation at the same time that theconical wheel 94 engages in the grooved wheel 95 under'the inuence ofelectro-magnet 96. If this movement is opposite to the variation of thegroup in the azimuth vfixed at the extremity of a lever 103 pivoted at104 and supported by the spherical frame 5 of the group. The pressure oflever 103 against cams 107--108 is obtained by a spring 109. Moreoverthe ebonite member 116 carries the switch composedl of three contacts113-114-115, a current carrying lever 110 carrying a contact rollercessional movements of thegyrostat are therefore damped out by theroller 105 which tends to restore it to its initialV position.

, According to the foregoing the gyroscopic group occupies in space aninvariable position on the horizon and in the azimuth. In order to allowthis group to control the longitudinal and the transverse stabilizingplanes' of the moving body vto be stabilized as well as the automaticdirecting 15o the original position will be immediately reesthereof ithasbeen provided with la series of elements which will now-be described.

' The group being xed on the moving body to be stabilized andautomatically steered in the direction of the arrow 500 (Figs. 1- and 3)which indicates the direction of motion of the moving body, thelongitudinal and 1 transverse stabilizing control is. obtained by ring117 of channel-shaped section disposed concentric to the axis 32 of thegroup. In this yring circulate two ball-bearing rollers 1'18 and 120 xedto circular brackets 119 and 121, themselves fastened to the sphericalframe 5 of the gyroscopic group. The channel-shaped ring 117 issuspended by a cardan joint on two ballbearings 125-126 whosetrunnionsare xed to a ring 122 which pivots itself on ball-bearings at123and 124 on the ring support 83. The intersection of the pivotal axes125-126 and 123--124 of ring 122 coincides with the central pivotal axis32 of the gyroscopic group.

Transverse stabilization of the moving body is controlled by a currentcarrying terminal 128 fixed to ring 122 and carrying a contact roller129. The latter is connected to a three point switch 127 which turns onball bearings at 130 and which is connected on the other hand with theservo-motor actuating transverse stabilization planes of the moving bodyby the return lever 131 of the servo-motor.

The control of the longitudinal stabilization is assured by the lever133 which is xed to trunnion 125 of channel-shaped ring 117. The lever-133 acts on a rod 134 on lever 135, on shaft 136, on which is keyed atoothed sector 137 which meshes with a block 138 having circulargrooves. This block 138 slides laterally on shaft 30 and drives in turnthe toothed sector 141. This sector carries a three-point switch 144-145on which is connected the roller 140. of the current carrying terminal139. The lever 139 is integral with the return lever 142, this latterbeing connected at the other end with the servo-motor which actuates thelongitudinal stabilizing planes by means of the return rod 143.

The control of the direction is assured by a three-point switch 153whichis xed on the ring 89 of the gyroscopic group in an invariableposition onthe azimuth and by a contact roller 154 fixed at theextremity of a current carrying terminal 155 supported by the framesupport 83.

Automatic lubrication of the ball-bearings of the gyrostats is effectedby a drop-count lubricator 147 xed on the supporting frame 83. The oilruns through a conduit in shaft 148 which supports the ball-bearing 90.At the end of this conduit is placed a ball 149 which is supported by areceptacle 150 xed on the electro-magnet 20 fastened to the frame 5 ofthe gyroscopic group. From this receptacle 150, the oil is led to eachgyrostat through stiiik` conduits 151 and flexible conduits 152. Theball 149 falls back on its seat and arrests the flowing of oil when thesupporting frame axis does not coincide with that of the gyroscopicgroup.

As was previously described, the two indicators of variation in speedand change in direction f the moving body (Figs. 7 and 8) must maintainabsolute horizcntality for suitable functioning. These two indicatorsare therefore xed on ele.- ments under control of the gyroscopic group.The indicator of variation in speed, of longitudinal stabilization, isxed on shaft 146 on which is keyed the return lever 142 of theservo-motor, while the change in direction indicator is connected withthe transverse stabilization servomotor through lever 156 forming partof the controlled element, rod .132 and lever 159. The movement of thering A117 relative to the main frame thus serves to hold these twogauges always horizontal in the sam manner that it stabilizes the objectthrough t e controls. That is, any tendency to deviate from thehorizontal will turn shafts 29 and 146 and thereby the gauge assembliesso that tilting of the moving object will not result in any movement ofthe gauges away from a horizontal positin. V

The electric operating circuit of the gyrostats as well as theelectro-magnets is established by means of a rotary distributer 157mounted on a` 90 shaft 158 fixed to the ring 89 at one end and to thering support 83 at the other end. Currnt is brought in through contactrollers 159' supported by the frame 83.

Having thus described my invention what I claim as new and desire tosecure by Letters Patent is:

1. In a gyroscopic control assembly, a gyroscope supporting frame, afirst pair of gyroscopes, means supporting said gyroscopes on said`frame whereby they are capable of precessing about parallel axes, saidgyroscopes having rotors positioned to rotate in intersecting planes, asecond pair of gyroscopes, means supporting said second gyroscopes onsaid frame whereby they are capable of precessing about axes positionedat right angles to the precessionalaxes of the first pair of gyroscopes,said second pair of gyroscopes having rotors positioned to rotate inintersecting' planes, means for driving said gyroscopes, a second frame,means movably supporting said gyroscope supporting frame on said secondframe,

control means for causing the return movement of said gyroscopes totheir normal position'after displacement therefrom, andinstrumentaliiies whereby said control means is actuated by movement ofthe gyroscopes relative to the said gyroscope supporting frame.

-2. A structure as defined in claim 1 in combination with a massvertically slidable on the gyroscope supporting frame and means forvertically displacing `said mass.

3. A structure as defined in claim 1 in combination with a massvertically slidable on said gyroscope supporting frame, means operativeto displace said mass towards and away from the center of gravity ofthe' assembly supported on the gyroscope supporting frame, and meansindependent of said gyroscope supporting frame to control saiddisplacing means. 'Y

4. A structure as defined in claim 1 in combination with a. massvertically slidable on the gyroscopic supporting frame, and meanscontrolled by accelerated movement of said gyroscopes through space todisplace said mass.

5. In a gyroscopic control assembly, a gyroscope supporting frame.l Iarst pair of gyroscopes, means supporting said gyroscopes on said framewhereby they are capable of precessing about vertical. parallel axes,said gyroscopes having their 14C 6. A structure as defined. in claim 5in combination with control means-actuatable by the relative movement ofsaid second frame and said gyroscope supporting frame.

7. A structure as defined in claim 5 in combination with a massvertically slidable on the gyroscope supporting frame, and meanscontrolled by accelerated movement through space of said. structure tovertically displace the said mass.

8. A structure as defined in claim 5 in combination with means operativeto correct tilting of said gyroscope supporting frame relatively to anyiixed horizontal plane.

9. A structure as deiined in claim 5 in combination with means operativeto correct tilting of said gyroscope supporting frame relatively to anyfixed vertical plane.

10. A structure as defined in claim 5 in combination with a plurality ofmasses movably mounted on the gyroscope supporting frame, and meanscontrolled by a tilting movement of said gyroscope supporting framerelatively to any horizontal plane to displace one oi said massessubstantially horizontally.

11. A structure as dened in claim 5 in combination with a solenoidhaving a winding and a core vdisplaceable with relation to one another,said solenoid being mounted on said gyroscope supporting frame, andmeans controlled by precession of one of said gyroscopes to energizesaid solenoid.

12. A structure as deiined in claim 5 in comblnation with meansoperative to correct tilting movements of said gyroscope supportingframe relatively to xed horizontal and Vertical planes.

13. A structure as dened in claim 5 in combination with means controlledby precessional movement of one of said rst pair of gyroscopes to tiltsaid gyroscope supporting frame. 14. A structure as deiined in claim 5,in combination' with means controlled by precessional movement of one ofsaid iirst pair of gyroscopes to tilt said gyroscope supporting frame,said 'last means including a solenoid having a core and. a

winding displaceable with relation to one another, said solenoid beingcarried by said gyroscope supporting frame, and means controlled byprecession of one of such gyroscopes to energize and deenergize saidsolenoid. -v

15. A structure as dened in claim 5 in combination with a flrst masspivotally supported'on the second frame, a second mass movably mounti edon the gyroscope supporting frame, and means controlled by displacementof said first mass to.`

vertically displace said second mass.

I KDUIS4 MARMONIER. v

